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<div class="title">outofcore_node_data.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  $Id: outofcore_node_data.h 6915 2012-08-22 10:54:21Z stfox88 $</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/outofcore/boost.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/outofcore/cJSON.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>outofcore</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">   83</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="comment">//public typedefs</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;OutofcoreOctreeNodeMetadata&gt; Ptr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const OutofcoreOctreeNodeMetadata&gt; ConstPtr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a45948b25a49b5ff61ccced2580598d09">   92</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a45948b25a49b5ff61ccced2580598d09">OutofcoreOctreeNodeMetadata</a> ();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        ~<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a> ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aa213243b23fcefdac3305cfafa25b3d5">   96</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aa213243b23fcefdac3305cfafa25b3d5">OutofcoreOctreeNodeMetadata</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a>&amp; orig);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">const</span> Eigen::Vector3d&amp;</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a0d8e497f5f15b17fa7e1726b47185063">  100</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a0d8e497f5f15b17fa7e1726b47185063">getBoundingBoxMin</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8dd3c5bbc5f8515fc8be297ede9ae97f">  103</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8dd3c5bbc5f8515fc8be297ede9ae97f">setBoundingBoxMin</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">const</span> Eigen::Vector3d&amp;</div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a2892d6ce01276208322b369474417049">  106</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a2892d6ce01276208322b369474417049">getBoundingBoxMax</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aed1472f2ee765b7039e5a1dfb936e9a8">  109</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aed1472f2ee765b7039e5a1dfb936e9a8">setBoundingBoxMax</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; max_bb);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8e1d3c1b80dc7df4cf388a47b1e4be78">  113</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8e1d3c1b80dc7df4cf388a47b1e4be78">getBoundingBox</a> (Eigen::Vector3d &amp;min_bb, Eigen::Vector3d &amp;max_bb) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8c6c8ad80d16a9c8cdb56a595cf352e5">  116</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8c6c8ad80d16a9c8cdb56a595cf352e5">setBoundingBox</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">const</span> boost::filesystem::path&amp;</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a6020c3ec7f2c02499613d7efac975e82">  120</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a6020c3ec7f2c02499613d7efac975e82">getDirectoryPathname</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ac33aa00998388d086f1151c857d89646">  123</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ac33aa00998388d086f1151c857d89646">setDirectoryPathname</a> (<span class="keyword">const</span> boost::filesystem::path&amp; directory_pathname);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keyword">const</span> boost::filesystem::path&amp;</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aeaafcc7a9b7182a36e4e51eb5a425b89">  127</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aeaafcc7a9b7182a36e4e51eb5a425b89">getPCDFilename</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a65e65eb963279ddfb5209d4529a5c688">  130</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a65e65eb963279ddfb5209d4529a5c688">setPCDFilename</a> (<span class="keyword">const</span> boost::filesystem::path&amp; point_filename);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#af64728464d72225818cf2930094f421f">  134</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#af64728464d72225818cf2930094f421f">getOutofcoreVersion</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a76f1796813dec832f113809b84166b8c">  137</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a76f1796813dec832f113809b84166b8c">setOutofcoreVersion</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> version);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keyword">const</span> boost::filesystem::path&amp;</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a0116330a3ac87b5dc2db3cbd84abc5b5">  141</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a0116330a3ac87b5dc2db3cbd84abc5b5">getMetadataFilename</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a5a4a238294b3305126d377659df399c5">  144</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a5a4a238294b3305126d377659df399c5">setMetadataFilename</a> (<span class="keyword">const</span> boost::filesystem::path&amp; path_to_metadata);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keyword">const</span> Eigen::Vector3d&amp;</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ad56723bcdc94138239eeeafdf2dd0452">  148</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ad56723bcdc94138239eeeafdf2dd0452">getVoxelCenter</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a9c10c5a3376b656e1ac016157558775a">  152</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a9c10c5a3376b656e1ac016157558775a">serializeMetadataToDisk</a> ();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a6be31f76fb4098041612a6cb112591af">  156</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a6be31f76fb4098041612a6cb112591af">loadMetadataFromDisk</a> ();</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ac7141afe4cf043a28423beb5b89ff4c6">  159</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ac7141afe4cf043a28423beb5b89ff4c6">loadMetadataFromDisk</a> (<span class="keyword">const</span> boost::filesystem::path&amp; path_to_metadata);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">friend</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        std::ostream&amp; operator&lt;&lt;(std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a>&amp; metadata_arg);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aeec6c61cee7ce63b67eecd37c419d91c">  166</a></span>&#160;        Eigen::Vector3d <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aeec6c61cee7ce63b67eecd37c419d91c">min_bb_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a7065ede31a89fbf5dd0e10804cd20785">  168</a></span>&#160;        Eigen::Vector3d <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a7065ede31a89fbf5dd0e10804cd20785">max_bb_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8361dcc84c3fa287710c3fce865220c2">  170</a></span>&#160;        boost::filesystem::path <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8361dcc84c3fa287710c3fce865220c2">binary_point_filename_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a359b0df3a9e828b2a51d68fe50e9ea80">  172</a></span>&#160;        Eigen::Vector3d <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a359b0df3a9e828b2a51d68fe50e9ea80">midpoint_xyz_</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#add4e8a9b4c2a3d8c862b146068f1b01a">  174</a></span>&#160;        boost::filesystem::path <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#add4e8a9b4c2a3d8c862b146068f1b01a">directory_</a>;</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a511950d4fa19ab7906c7ee48fcf7625c">  176</a></span>&#160;        boost::filesystem::path <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a511950d4fa19ab7906c7ee48fcf7625c">metadata_filename_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8004c3548c97d0e39ee3b0f36c85e399">  178</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8004c3548c97d0e39ee3b0f36c85e399">outofcore_version_</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a79a17568bf636cf5ffbce792d36de46a">  182</a></span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a79a17568bf636cf5ffbce792d36de46a">updateVoxelCenter</a> ()</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          midpoint_xyz_ = (this-&gt;max_bb_ + this-&gt;min_bb_)/<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(2.0);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    };</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  }<span class="comment">//namespace outofcore</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}<span class="comment">//namespace pcl</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_OUTOFCORE_OCTREE_NODE_METADATA_H_</span></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">pcl::outofcore::OutofcoreOctreeNodeMetadata</a></div><div class="ttdoc">Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node.</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a0116330a3ac87b5dc2db3cbd84abc5b5"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a0116330a3ac87b5dc2db3cbd84abc5b5">pcl::outofcore::OutofcoreOctreeNodeMetadata::getMetadataFilename</a></div><div class="ttdeci">const boost::filesystem::path &amp; getMetadataFilename() const</div><div class="ttdoc">Sets the name of the JSON file</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a0d8e497f5f15b17fa7e1726b47185063"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a0d8e497f5f15b17fa7e1726b47185063">pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBoxMin</a></div><div class="ttdeci">const Eigen::Vector3d &amp; getBoundingBoxMin() const</div><div class="ttdoc">Get the lower bounding box corner</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a2892d6ce01276208322b369474417049"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a2892d6ce01276208322b369474417049">pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBoxMax</a></div><div class="ttdeci">const Eigen::Vector3d &amp; getBoundingBoxMax() const</div><div class="ttdoc">Get the upper bounding box corner</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a359b0df3a9e828b2a51d68fe50e9ea80"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a359b0df3a9e828b2a51d68fe50e9ea80">pcl::outofcore::OutofcoreOctreeNodeMetadata::midpoint_xyz_</a></div><div class="ttdeci">Eigen::Vector3d midpoint_xyz_</div><div class="ttdoc">Voxel center; not stored on disk</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a45948b25a49b5ff61ccced2580598d09"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a45948b25a49b5ff61ccced2580598d09">pcl::outofcore::OutofcoreOctreeNodeMetadata::OutofcoreOctreeNodeMetadata</a></div><div class="ttdeci">OutofcoreOctreeNodeMetadata()</div><div class="ttdoc">Empty constructor</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a511950d4fa19ab7906c7ee48fcf7625c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a511950d4fa19ab7906c7ee48fcf7625c">pcl::outofcore::OutofcoreOctreeNodeMetadata::metadata_filename_</a></div><div class="ttdeci">boost::filesystem::path metadata_filename_</div><div class="ttdoc">Metadata (JSON) file pathname (oct_idx extension JSON file)</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a5a4a238294b3305126d377659df399c5"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a5a4a238294b3305126d377659df399c5">pcl::outofcore::OutofcoreOctreeNodeMetadata::setMetadataFilename</a></div><div class="ttdeci">void setMetadataFilename(const boost::filesystem::path &amp;path_to_metadata)</div><div class="ttdoc">Gets the name of the JSON file</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a6020c3ec7f2c02499613d7efac975e82"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a6020c3ec7f2c02499613d7efac975e82">pcl::outofcore::OutofcoreOctreeNodeMetadata::getDirectoryPathname</a></div><div class="ttdeci">const boost::filesystem::path &amp; getDirectoryPathname() const</div><div class="ttdoc">Get the directory path name; this is the parent_path of</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a65e65eb963279ddfb5209d4529a5c688"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a65e65eb963279ddfb5209d4529a5c688">pcl::outofcore::OutofcoreOctreeNodeMetadata::setPCDFilename</a></div><div class="ttdeci">void setPCDFilename(const boost::filesystem::path &amp;point_filename)</div><div class="ttdoc">Set the point filename; extension .pcd</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a6be31f76fb4098041612a6cb112591af"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a6be31f76fb4098041612a6cb112591af">pcl::outofcore::OutofcoreOctreeNodeMetadata::loadMetadataFromDisk</a></div><div class="ttdeci">int loadMetadataFromDisk()</div><div class="ttdoc">Loads the data from a JSON file located at metadata_filename_</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a7065ede31a89fbf5dd0e10804cd20785"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a7065ede31a89fbf5dd0e10804cd20785">pcl::outofcore::OutofcoreOctreeNodeMetadata::max_bb_</a></div><div class="ttdeci">Eigen::Vector3d max_bb_</div><div class="ttdoc">The X,Y,Z axes-aligned maximum corner for the bounding box</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a76f1796813dec832f113809b84166b8c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a76f1796813dec832f113809b84166b8c">pcl::outofcore::OutofcoreOctreeNodeMetadata::setOutofcoreVersion</a></div><div class="ttdeci">void setOutofcoreVersion(const int version)</div><div class="ttdoc">Set the outofcore version stored in the &quot;version&quot; field of the JSON object</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a79a17568bf636cf5ffbce792d36de46a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a79a17568bf636cf5ffbce792d36de46a">pcl::outofcore::OutofcoreOctreeNodeMetadata::updateVoxelCenter</a></div><div class="ttdeci">void updateVoxelCenter()</div><div class="ttdoc">Computes the midpoint; used when bounding box is changed</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a8004c3548c97d0e39ee3b0f36c85e399"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8004c3548c97d0e39ee3b0f36c85e399">pcl::outofcore::OutofcoreOctreeNodeMetadata::outofcore_version_</a></div><div class="ttdeci">int outofcore_version_</div><div class="ttdoc">Outofcore library version identifier</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a8361dcc84c3fa287710c3fce865220c2"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8361dcc84c3fa287710c3fce865220c2">pcl::outofcore::OutofcoreOctreeNodeMetadata::binary_point_filename_</a></div><div class="ttdeci">boost::filesystem::path binary_point_filename_</div><div class="ttdoc">Path to PCD file (i.e. &quot;bin&quot;ary point data)</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a8c6c8ad80d16a9c8cdb56a595cf352e5"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8c6c8ad80d16a9c8cdb56a595cf352e5">pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBox</a></div><div class="ttdeci">void setBoundingBox(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb)</div><div class="ttdoc">Set the lower and upper corners of the bounding box</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a8dd3c5bbc5f8515fc8be297ede9ae97f"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8dd3c5bbc5f8515fc8be297ede9ae97f">pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBoxMin</a></div><div class="ttdeci">void setBoundingBoxMin(const Eigen::Vector3d &amp;min_bb)</div><div class="ttdoc">Set the lower bounding box corner</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a8e1d3c1b80dc7df4cf388a47b1e4be78"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a8e1d3c1b80dc7df4cf388a47b1e4be78">pcl::outofcore::OutofcoreOctreeNodeMetadata::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox(Eigen::Vector3d &amp;min_bb, Eigen::Vector3d &amp;max_bb) const</div><div class="ttdoc">Get the lower and upper corners of the bounding box enclosing this node</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_a9c10c5a3376b656e1ac016157558775a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#a9c10c5a3376b656e1ac016157558775a">pcl::outofcore::OutofcoreOctreeNodeMetadata::serializeMetadataToDisk</a></div><div class="ttdeci">void serializeMetadataToDisk()</div><div class="ttdoc">Writes the data to a JSON file located at metadata_filename_</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_aa213243b23fcefdac3305cfafa25b3d5"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aa213243b23fcefdac3305cfafa25b3d5">pcl::outofcore::OutofcoreOctreeNodeMetadata::OutofcoreOctreeNodeMetadata</a></div><div class="ttdeci">OutofcoreOctreeNodeMetadata(const OutofcoreOctreeNodeMetadata &amp;orig)</div><div class="ttdoc">Copy constructor</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_ac33aa00998388d086f1151c857d89646"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ac33aa00998388d086f1151c857d89646">pcl::outofcore::OutofcoreOctreeNodeMetadata::setDirectoryPathname</a></div><div class="ttdeci">void setDirectoryPathname(const boost::filesystem::path &amp;directory_pathname)</div><div class="ttdoc">Set the directory path name</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_ac7141afe4cf043a28423beb5b89ff4c6"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ac7141afe4cf043a28423beb5b89ff4c6">pcl::outofcore::OutofcoreOctreeNodeMetadata::loadMetadataFromDisk</a></div><div class="ttdeci">int loadMetadataFromDisk(const boost::filesystem::path &amp;path_to_metadata)</div><div class="ttdoc">Loads the data from a JSON file located at metadata_filename_</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_ad56723bcdc94138239eeeafdf2dd0452"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#ad56723bcdc94138239eeeafdf2dd0452">pcl::outofcore::OutofcoreOctreeNodeMetadata::getVoxelCenter</a></div><div class="ttdeci">const Eigen::Vector3d &amp; getVoxelCenter() const</div><div class="ttdoc">Get the midpoint of this node's bounding box</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_add4e8a9b4c2a3d8c862b146068f1b01a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#add4e8a9b4c2a3d8c862b146068f1b01a">pcl::outofcore::OutofcoreOctreeNodeMetadata::directory_</a></div><div class="ttdeci">boost::filesystem::path directory_</div><div class="ttdoc">Directory this metadata belongs in</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_aeaafcc7a9b7182a36e4e51eb5a425b89"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aeaafcc7a9b7182a36e4e51eb5a425b89">pcl::outofcore::OutofcoreOctreeNodeMetadata::getPCDFilename</a></div><div class="ttdeci">const boost::filesystem::path &amp; getPCDFilename() const</div><div class="ttdoc">Get the path to the PCD file</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_aed1472f2ee765b7039e5a1dfb936e9a8"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aed1472f2ee765b7039e5a1dfb936e9a8">pcl::outofcore::OutofcoreOctreeNodeMetadata::setBoundingBoxMax</a></div><div class="ttdeci">void setBoundingBoxMax(const Eigen::Vector3d &amp;max_bb)</div><div class="ttdoc">Set the upper bounding box corner</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_aeec6c61cee7ce63b67eecd37c419d91c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#aeec6c61cee7ce63b67eecd37c419d91c">pcl::outofcore::OutofcoreOctreeNodeMetadata::min_bb_</a></div><div class="ttdeci">Eigen::Vector3d min_bb_</div><div class="ttdoc">The X,Y,Z axes-aligned minimum corner for the bounding box</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html_af64728464d72225818cf2930094f421f"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html#af64728464d72225818cf2930094f421f">pcl::outofcore::OutofcoreOctreeNodeMetadata::getOutofcoreVersion</a></div><div class="ttdeci">int getOutofcoreVersion() const</div><div class="ttdoc">et the outofcore version read from the &quot;version&quot; field of the JSON object</div></div>
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